AMCL, the purpose of "InitialPose" topic
Hi, I am using AMCL package for localization on my robot. I am not sure about what the "InitialPose" topic does. Is it just the initial pose of the robot at the start when we dont have good localization (if yes then do we need to publish it continuously?). Or is it the initial pose that it uses in every iteration to generate new particles (this doesn't make sense since it already has the base_link-->odom and map-->odom transforms). Thank you.
Asked by AnuZam on 2014-05-05 08:08:08 UTC
Answers
It's the one that makes sense. You have to publish that once at the start (or whenever the robot gets delocalized).
Asked by dornhege on 2014-05-05 08:10:02 UTC
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Thanks dornhege. While we are on the topic what is a good way to check if the robot is delocalized? Right now I am checking the diagonal entries on the covariance matrix (if they are close to 0 it means its good), but I think there might be a better way?
Asked by AnuZam on 2014-05-05 09:41:16 UTC
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